#pragma once

#include "unitreeLeg.h"

#ifdef USE_NEWBEE2
#define HIP_LENGTH      0.08
#define THIGH_LENGTH    0.213
#define CALF_LENGTH     0.213

#else
#define HIP_LENGTH      0.11973
#define THIGH_LENGTH    0.35
#define CALF_LENGTH     0.35
#endif

class newBee_Leg:public QuadrupedLeg
{
    public:
    /// @brief 创建newBee_Leg实例(几何特征已指定)
    /// @param legID 编号
    /// @param pHip2B hip原点在body系中的坐标,参考leg_offset
    newBee_Leg(const int legID,const Vec3 pHip2B):
        QuadrupedLeg(legID,HIP_LENGTH,THIGH_LENGTH,CALF_LENGTH,pHip2B){}

    ~newBee_Leg(){}
};

class newBee2_Leg:public QuadrupedLeg
{
    public:
    /// @brief 创建newBee_Leg实例(几何特征已指定)
    /// @param legID 编号
    /// @param pHip2B hip原点在body系中的坐标,参考leg_offset
    newBee2_Leg(const int legID,const Vec3 pHip2B):
        QuadrupedLeg(legID,HIP_LENGTH,THIGH_LENGTH,CALF_LENGTH,pHip2B){}

    ~newBee2_Leg(){}   
};